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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classGaitScheduler-members.html">List of all members</a>  </div>
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<div class="title">GaitScheduler Class Reference</div>  </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>GaitScheduler</b> (double tSwingIn, double dtIn)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>dataBusRead</b> (const <a class="el" href="structDataBus.html">DataBus</a> &amp;robotState)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>dataBusWrite</b> (<a class="el" href="structDataBus.html">DataBus</a> &amp;robotState)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>step</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>stop</b> ()</td></tr>
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Public Attributes</h2></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>isIni</b> {false}</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>phi</b> {0}</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>tSwing</b> {0.4}</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>dt</b> {0.001}</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>FzThrehold</b> {100}</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>Fz_L_m</b> {0}</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>Fz_R_m</b> {0}</td></tr>
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DataBus::LegState&#160;</td><td class="memItemRight" valign="bottom"><b>legState</b></td></tr>
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DataBus::LegState&#160;</td><td class="memItemRight" valign="bottom"><b>legStateNext</b></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>FLest</b></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>FRest</b></td></tr>
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Eigen::VectorXd&#160;</td><td class="memItemRight" valign="bottom"><b>torJoint</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="gait__scheduler_8h_source.html#l00014">14</a> of file <a class="el" href="gait__scheduler_8h_source.html">gait_scheduler.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="gait__scheduler_8h_source.html">gait_scheduler.h</a></li>
<li><a class="el" href="gait__scheduler_8cpp_source.html">gait_scheduler.cpp</a></li>
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